parry3d/query/intersection_test/
intersection_test_cuboid_triangle.rs1use crate::bounding_volume::Aabb;
2use crate::math::{Isometry, Real};
3use crate::query::sat;
4use crate::shape::{Cuboid, Triangle};
5
6pub fn intersection_test_aabb_triangle(aabb1: &Aabb, triangle2: &Triangle) -> bool {
8 let cuboid1 = Cuboid::new(aabb1.half_extents());
9 let pos12 = Isometry::from_parts((-aabb1.center().coords).into(), na::one());
10 intersection_test_cuboid_triangle(&pos12, &cuboid1, triangle2)
11}
12
13#[inline]
15pub fn intersection_test_triangle_cuboid(
16 pos12: &Isometry<Real>,
17 triangle1: &Triangle,
18 cuboid2: &Cuboid,
19) -> bool {
20 intersection_test_cuboid_triangle(&pos12.inverse(), cuboid2, triangle1)
21}
22
23#[inline]
25pub fn intersection_test_cuboid_triangle(
26 pos12: &Isometry<Real>,
27 cube1: &Cuboid,
28 triangle2: &Triangle,
29) -> bool {
30 let sep1 =
31 sat::cuboid_support_map_find_local_separating_normal_oneway(cube1, triangle2, pos12).0;
32 if sep1 > 0.0 {
33 return false;
34 }
35
36 let pos21 = pos12.inverse();
37 let sep2 = sat::triangle_cuboid_find_local_separating_normal_oneway(triangle2, cube1, &pos21).0;
38 if sep2 > 0.0 {
39 return false;
40 }
41
42 #[cfg(feature = "dim2")]
43 return true; #[cfg(feature = "dim3")]
45 {
46 let sep3 =
47 sat::cuboid_triangle_find_local_separating_edge_twoway(cube1, triangle2, pos12).0;
48 sep3 <= 0.0
49 }
50}